Rev 284 | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 284 | Rev 285 | ||
---|---|---|---|
1 | /* |
1 | /* |
2 | 2 | ||
3 | Copyright 2007, Niklas Nold |
3 | Copyright 2007, Niklas Nold |
4 | 4 | ||
5 | This program (files math.c and math.h) is free software; you can redistribute it and/or modify |
5 | This program (files math.c and math.h) is free software; you can redistribute it and/or modify |
6 | it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
6 | it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
7 | either version 3 of the License, or (at your option) any later version. |
7 | either version 3 of the License, or (at your option) any later version. |
8 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
8 | This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
9 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
9 | without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
10 | GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License |
10 | GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License |
11 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
11 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
12 | 12 | ||
13 | Please note: All the other files for the project "Mikrokopter" by H. Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
13 | Please note: All the other files for the project "Mikrokopter" by H. Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
14 | */ |
14 | */ |
15 | 15 | ||
16 | #include "main.h" |
16 | #include "main.h" |
17 | 17 | ||
18 | 18 | ||
19 | const uint8_t pgm_atan[270] PROGMEM = {0,1,2,3,5,6,7,8,9,10,11,12,13,15,16,17,18,19,20,21,22,23,24,25,26,27,27,28,29,30,31,32,33,33,34,35,36,37,37,38,39,39,40,41,41,42,43,43,44,44,45,46,46,47,47,48,48,49,49,50,50,51,51,52,52,52,53,53,54,54,54,55,55,56,56,56,57,57,57,58,58,58,59,59,59,60,60,60,60,61,61,61,61,62,62,62,62,63,63,63,63,64,64,64,64,65,65,65,65,65,66,66,66,66,66,67,67,67,67,67,67,68,68,68,68,68,68,69,69,69,69,69,69,69,70,70,70,70,70,70,70,70,71,71,71,71,71,71,71,71,72,72,72,72,72,72,72,72,72,73,73,73,73,73,73,73,73,73,73,74,74,74,74,74,74,74,74,74,74,74,74,75,75,75,75,75,75,75,75,75,75,75,75,75,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79}; |
19 | const uint8_t pgm_atan[270] PROGMEM = {0,1,2,3,5,6,7,8,9,10,11,12,13,15,16,17,18,19,20,21,22,23,24,25,26,27,27,28,29,30,31,32,33,33,34,35,36,37,37,38,39,39,40,41,41,42,43,43,44,44,45,46,46,47,47,48,48,49,49,50,50,51,51,52,52,52,53,53,54,54,54,55,55,56,56,56,57,57,57,58,58,58,59,59,59,60,60,60,60,61,61,61,61,62,62,62,62,63,63,63,63,64,64,64,64,65,65,65,65,65,66,66,66,66,66,67,67,67,67,67,67,68,68,68,68,68,68,69,69,69,69,69,69,69,70,70,70,70,70,70,70,70,71,71,71,71,71,71,71,71,72,72,72,72,72,72,72,72,72,73,73,73,73,73,73,73,73,73,73,74,74,74,74,74,74,74,74,74,74,74,74,75,75,75,75,75,75,75,75,75,75,75,75,75,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79}; |
20 | 20 | ||
21 | // Arkustangens2 im Gradmaß |
21 | // Arkustangens2 im Gradmaß |
22 | signed int atan2_i(signed int x, signed int y) |
22 | signed int atan2_i(signed int x, signed int y) |
23 | { |
23 | { |
24 | int i,angle; |
24 | int i,angle; |
25 | int8_t m; |
25 | int8_t m; |
26 | 26 | ||
27 | if (!x && !y) return 0; //atan2 = 0 für x und y = 0 |
27 | if (!x && !y) return 0; //atan2 = 0 für x und y = 0 |
28 | 28 | ||
29 | if (y < 0) m=-1; |
29 | if (y < 0) m=-1; |
30 | else m=1; |
30 | else m=1; |
31 | 31 | ||
32 | if (x==0) return (90*m); // atan2 = 90° für x = 0 |
32 | if (x==0) return (90*m); // atan2 = 90° für x = 0 |
33 | 33 | ||
34 | i = abs(((float)y / x) * 50); // Berechne i für die Lookup table (Schrittweite atan(x) ist 0.02 -> *50) |
34 | i = abs(((float)y / x) * 50); // Berechne i für die Lookup table (Schrittweite atan(x) ist 0.02 -> *50) |
35 | 35 | ||
36 | if (i<270) angle = pgm_read_byte(&pgm_atan[i]); // Lookup für 1° bis 79° |
36 | if (i<270) angle = pgm_read_byte(&pgm_atan[i]); // Lookup für 1° bis 79° |
37 | else if (i>5750) angle = 90; // Grenzwert ist 90° |
37 | else if (i>5750) angle = 90; // Grenzwert ist 90° |
38 | else if (i>=1910) angle = 89; // 89° bis 80° über Wertebereiche |
38 | else if (i>=1910) angle = 89; // 89° bis 80° über Wertebereiche |
39 | else if (i>=1150) angle = 88; |
39 | else if (i>=1150) angle = 88; |
40 | else if (i>=820) angle = 87; |
40 | else if (i>=820) angle = 87; |
41 | else if (i>=640) angle = 86; |
41 | else if (i>=640) angle = 86; |
42 | else if (i>=520) angle = 85; |
42 | else if (i>=520) angle = 85; |
43 | else if (i>=440) angle = 84; |
43 | else if (i>=440) angle = 84; |
44 | else if (i>=380) angle = 83; |
44 | else if (i>=380) angle = 83; |
45 | else if (i>=335) angle = 82; |
45 | else if (i>=335) angle = 82; |
46 | else if (i>=299) angle = 81; |
46 | else if (i>=299) angle = 81; |
47 | else angle = 80; // (i>=270) |
47 | else angle = 80; // (i>=270) |
48 | 48 | ||
49 | if (x > 0) return (angle*m); // Quadrant I und IV |
49 | if (x > 0) return (angle*m); // Quadrant I und IV |
50 | else if ((x < 0) && (y >= 0)) return ((angle*-1) + 180); // Quadrant II |
50 | else if ((x < 0) && (y >= 0)) return ((angle*-1) + 180); // Quadrant II |
51 | else return (angle - 180); // x < 0 && y < 0 Quadrant III |
51 | else return (angle - 180); // x < 0 && y < 0 Quadrant III |
52 | } |
52 | } |
53 | 53 | ||
54 | 54 | ||
55 | 55 | ||
56 | 56 | ||
57 | 57 | ||
58 | const float pgm_sinus_f [91] PROGMEM = {0.000,0.017,0.035,0.052,0.070,0.087,0.105,0.122,0.139,0.156,0.174,0.191,0.208,0.225,0.242,0.259,0.276,0.292,0.309,0.326,0.342,0.358,0.375,0.391,0.407,0.423,0.438,0.454,0.469,0.485,0.500,0.515,0.530,0.545,0.559,0.574,0.588,0.602,0.616,0.629,0.643,0.656,0.669,0.682,0.695,0.707,0.719,0.731,0.743,0.755,0.766,0.777,0.788,0.799,0.809,0.819,0.829,0.839,0.848,0.857,0.866,0.875,0.883,0.891,0.899,0.906,0.914,0.921,0.927,0.934,0.940,0.946,0.951,0.956,0.961,0.966,0.970,0.974,0.978,0.982,0.985,0.988,0.990,0.993,0.995,0.996,0.998,0.999,0.999,1.000,1.000}; |
58 | const float pgm_sinus_f [91] PROGMEM = {0.000,0.017,0.035,0.052,0.070,0.087,0.105,0.122,0.139,0.156,0.174,0.191,0.208,0.225,0.242,0.259,0.276,0.292,0.309,0.326,0.342,0.358,0.375,0.391,0.407,0.423,0.438,0.454,0.469,0.485,0.500,0.515,0.530,0.545,0.559,0.574,0.588,0.602,0.616,0.629,0.643,0.656,0.669,0.682,0.695,0.707,0.719,0.731,0.743,0.755,0.766,0.777,0.788,0.799,0.809,0.819,0.829,0.839,0.848,0.857,0.866,0.875,0.883,0.891,0.899,0.906,0.914,0.921,0.927,0.934,0.940,0.946,0.951,0.956,0.961,0.966,0.970,0.974,0.978,0.982,0.985,0.988,0.990,0.993,0.995,0.996,0.998,0.999,0.999,1.000,1.000}; |
59 | 59 | ||
60 | inline float pgm_read_float(const float *addr) |
60 | inline float pgm_read_float(const float *addr) |
61 | { |
61 | { |
62 | union |
62 | union |
63 | { |
63 | { |
64 | uint16_t i[2]; // 2 16-bit-Worte |
64 | uint16_t i[2]; // 2 16-bit-Worte |
65 | float f; |
65 | float f; |
66 | } u; |
66 | } u; |
67 | 67 | ||
68 | u.i[0]=pgm_read_word((PGM_P)addr); |
68 | u.i[0]=pgm_read_word((PGM_P)addr); |
69 | u.i[1]=pgm_read_word((PGM_P)addr+2); |
69 | u.i[1]=pgm_read_word((PGM_P)addr+2); |
70 | 70 | ||
71 | return u.f; |
71 | return u.f; |
72 | } |
72 | } |
73 | 73 | ||
74 | // Kosinsusfunktion im Gradmaß |
74 | // Kosinusfunktion im Gradmaß |
75 | float cos_f(signed int winkel) |
75 | float cos_f(signed int winkel) |
76 | { |
76 | { |
77 | return (sin_f(90-winkel)); |
77 | return (sin_f(90-winkel)); |
78 | } |
78 | } |
79 | 79 | ||
80 | // Sinusfunktion im Gradmaß |
80 | // Sinusfunktion im Gradmaß |
81 | float sin_f(signed int winkel) |
81 | float sin_f(signed int winkel) |
82 | { |
82 | { |
83 | short int m,n; |
83 | short int m,n; |
84 | float sinus; |
84 | float sinus; |
85 | 85 | ||
86 | //winkel = winkel % 360; |
86 | //winkel = winkel % 360; |
87 | 87 | ||
88 | if (winkel < 0) |
88 | if (winkel < 0) |
89 | { |
89 | { |
90 | m = -1; |
90 | m = -1; |
91 | winkel = abs(winkel); |
91 | winkel = abs(winkel); |
92 | } |
92 | } |
93 | else m = +1; |
93 | else m = +1; |
94 | 94 | ||
95 | // Quadranten auswerten |
95 | // Quadranten auswerten |
96 | if ((winkel > 90 ) && (winkel <= 180)) {winkel = 180 - winkel; n = 1;} |
96 | if ((winkel > 90 ) && (winkel <= 180)) {winkel = 180 - winkel; n = 1;} |
97 | else if ((winkel > 180 ) && (winkel <= 270)) {winkel = winkel - 180; n = -1;} |
97 | else if ((winkel > 180 ) && (winkel <= 270)) {winkel = winkel - 180; n = -1;} |
98 | else if ((winkel > 270) && (winkel <= 360)) {winkel = 360 - winkel; n = -1;} |
98 | else if ((winkel > 270) && (winkel <= 360)) {winkel = 360 - winkel; n = -1;} |
99 | else n = 1; //0 - 90 Grad |
99 | else n = 1; //0 - 90 Grad |
100 | 100 | ||
101 | sinus = pgm_read_float(&pgm_sinus_f[winkel]); |
101 | sinus = pgm_read_float(&pgm_sinus_f[winkel]); |
102 | 102 | ||
103 | return (sinus*m*n); |
103 | return (sinus*m*n); |
104 | } |
104 | } |
105 | 105 | ||
106 | 106 | ||
107 | const uint8_t pgm_asin[201] PROGMEM = {0,0,1,1,1,1,2,2,2,3,3,3,3,4,4,4,5,5,5,5,6,6,6,7,7,7,7,8,8,8,9,9,9,9,10,10,10,11,11,11,12,12,12,12,13,13,13,14,14,14,14,15,15,15,16,16,16,17,17,17,17,18,18,18,19,19,19,20,20,20,20,21,21,21,22,22,22,23,23,23,24,24,24,25,25,25,25,26,26,26,27,27,27,28,28,28,29,29,29,30,30,30,31,31,31,32,32,32,33,33,33,34,34,34,35,35,35,36,36,37,37,37,38,38,38,39,39,39,40,40,41,41,41,42,42,42,43,43,44,44,44,45,45,46,46,46,47,47,48,48,49,49,49,50,50,51,51,52,52,53,53,54,54,55,55,56,56,57,57,58,58,59,59,60,60,61,62,62,63,64,64,65,66,66,67,68,68,69,70,71,72,73,74,75,76,77,79,80,82,84,90}; |
107 | const uint8_t pgm_asin[201] PROGMEM = {0,0,1,1,1,1,2,2,2,3,3,3,3,4,4,4,5,5,5,5,6,6,6,7,7,7,7,8,8,8,9,9,9,9,10,10,10,11,11,11,12,12,12,12,13,13,13,14,14,14,14,15,15,15,16,16,16,17,17,17,17,18,18,18,19,19,19,20,20,20,20,21,21,21,22,22,22,23,23,23,24,24,24,25,25,25,25,26,26,26,27,27,27,28,28,28,29,29,29,30,30,30,31,31,31,32,32,32,33,33,33,34,34,34,35,35,35,36,36,37,37,37,38,38,38,39,39,39,40,40,41,41,41,42,42,42,43,43,44,44,44,45,45,46,46,46,47,47,48,48,49,49,49,50,50,51,51,52,52,53,53,54,54,55,55,56,56,57,57,58,58,59,59,60,60,61,62,62,63,64,64,65,66,66,67,68,68,69,70,71,72,73,74,75,76,77,79,80,82,84,90}; |
108 | 108 | ||
109 | // Akurssinusfunktion im Gradmaß |
109 | // Akurssinusfunktion im Gradmaß |
110 | int8_t asin_i(signed int i) |
110 | int8_t asin_i(signed int i) |
111 | { |
111 | { |
112 | signed char m; |
112 | signed char m; |
113 | 113 | ||
114 | if (i < 0) {m=-1;i=abs(i);} |
114 | if (i < 0) {m=-1;i=abs(i);} |
115 | else m=1; |
115 | else m=1; |
116 | 116 | ||
117 | return (pgm_read_byte(&pgm_asin[i]) * m); |
117 | return (pgm_read_byte(&pgm_asin[i]) * m); |
118 | } |
118 | } |
119 | 119 |